RC-SLAM: Road Constrained Stereo Visual SLAM System Based on Graph Optimization.
Yuan ZhuHao AnHuaide WangRuidong XuMingzhi WuKe LuPublished in: Sensors (2024)
Keyphrases
- visual slam
- real time
- monocular slam
- simultaneous localization and mapping
- dynamic environments
- camera motion
- stereo rig
- bundle adjustment
- monocular camera
- multibody
- visual odometry
- structure from motion
- computer vision
- stereo vision
- motion segmentation
- multi camera
- epipolar geometry
- data association
- stereo pair
- real environment
- disparity map
- extended kalman filter
- stereo images
- kalman filter
- motion model